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206 Commits (ab616ceb5445ed07c0556e30c52a31175f2c22ac)
 

Author SHA1 Message Date
Chiyu Chen ab616ceb54 add vehicleDiagShow.py for vehicle diagnostics 
- Introduced vehicleDiagShow.py, 這個簡易的終端機介面 顯示載具的自檢驗與狀態
 2 weeks ago
Chiyu Chen bc841156cb Merge branch 'chiyu' 2 weeks ago
Chiyu Chen 324fced754 Enhance mavlink handling and add status text support 
- Added handling for SYS_STATUS and STATUSTEXT messages in mainOrchestrator.py and mavlinkObject.py.
- Introduced a new StatusTextEntry data class in mavlinkVehicleView.py to manage status text messages.
- Updated topic management in mavlinkROS2Nodes.py to include new status text functionality.
 2 weeks ago
Chiyu Chen 0a84bb68fe Add SystemDiagnostics message and integrate into network adapter 
- Added SystemDiagnosticsRaw.msg to define system diagnostics data structure.
- Enhanced mainOrchestrator.py and mavlinkObject.py to handle SYS_STATUS messages and publish system diagnostics.
- Introduced a new method in VehicleStatusPublisher to publish system diagnostics data.
- Updated mavlinkVehicleView.py to include SystemDiagnostics data class.
 2 weeks ago
wenchun d15c2d0a2d chore: 忽略 MAVProxy/SITL 產生的 tlog 與參數 dump 
誤在專案目錄開 SITL 會產生 mav.tlog / mav.tlog.raw / mav.parm，
加入忽略規則避免誤入版控。

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
 2 weeks ago
wenchun ae984ecad4 refactor(GUI): 移除規劃路徑的死高度，不再把 GNSS 絕對高度餵進規劃 
_collect_drone_gps 原本把 drone_gps['alt']（GNSS AMSL）放進規劃輸入的 z，
但四種任務的指令高度一律取自 mission params，從不讀飛機回報的當下高度，
planner 與驗證視窗也都丟棄該 z。改填 0.0 placeholder、移除沒用的 base_alt
參數，讓「高度非規劃輸入」語意明確化；並移除 gps 更新路徑未使用的 alt 變數。
行為不變，SITL 四模式驗證通過。

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
 2 weeks ago
wenchun 32aa489462 revert: 還原 mavlinkROS2Nodes 高度發布改動，回到 GUI-only 修改範圍 
415aed0 為修 Circle 高度爆衝曾把 position_gnss topic 改發 relative_altitude
（GUI 外的 ROS2 node），違反「修改只動 src/GUI/」的範圍規則。還原回發
AMSL（pos.altitude）。Bug A 的實際修法在 GUI 端（mission_planner stage1.z
改用 final_z）仍保留，故還原後 Circle 高度問題不會復發；後續高度 debug 一律
在 GUI 內處理（需相對高度時讀 NED local_pose z，不讀 drone_gps['alt']）。

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
 2 weeks ago
Chiyu Chen cc9d005392 (update) ntrip_client.py 
Introduced threading locks and stop event for safer socket management. Updated the receive loop to handle connection interruptions.
 2 weeks ago
Chiyu Chen 2c7f2afc45 (Add) ntrip_client.py GGA sentence generation and sending 2 weeks ago
wenchun 415aed088a fix: 修正實飛 Circle 高度爆衝與 Leader-Follower 卡點 
1. mavlinkROS2Nodes: position_gnss topic 改發 relative_altitude 而非 AMSL，
   讓 drone_gps['alt'] 在實飛與 SITL 都代表「相對 home 高度」
2. mission_planner: Circle stage1.z 改用 final_z（不再用 current_z 做中點插值），
   避免實飛時 current_z 是 AMSL 而把過渡高度衝到海拔值的一半
3. mission_executor: 到達判定改為 hover-stable（radius * 1.5 hysteresis +
   穩定計時），預設 arrival_radius 2→4m，解決實飛 GPS 抖動永遠進不了
   2m radius 的卡死問題
4. mission_executor: 新增 progress log，每 3 秒印一行距離與穩定度，
   方便實飛 debug 卡點問題
5. mission_group + gui: 暴露 arrival_radius / hover_stable_sec 給 GUI 任務參數面板，
   每次 start 重讀以支援中途調整

Co-Authored-By: Claude Opus 4.7 <noreply@anthropic.com>
 2 weeks ago
ken910606 5231cffcb2 Update GUI 2.6.0: trajectory, color, window, serial JSON 3 weeks ago
Chiyu Chen 0ee7dd1fcf (hot_fix) 
1. 把測試用參數關閉
2. 修正錯誤回傳值
3. 臨時加入 node 失效後 自動重啟功能
 3 weeks ago
Chiyu Chen 61e283cd25 node重啟功能 與 定義檔優化 
---
(Adding)
1. mavlinkROS2Nodes.py 各別 node 重啟的功能
2.  mainRochestrator.py 開發對應介面
(modify)
 1. 定義檔優化 移除 ackEnum.py 新增 ServiceAckResult.msg
 3 weeks ago
ken910606 4e08b18a03 Update GUI 2.5.0: Drone reboot 4 weeks ago
ken910606 81de964778 Merge branch 'master' of http://140.120.108.238:49308/chiyu1468/AirTrapMine 4 weeks ago
ken910606 c75537a977 Update GUI 2.5.0: Drone reboot 4 weeks ago
wenchun 8c62f891a8 fix(GUI): 修正實飛三個關鍵 bug — 高度偏移累加、Leader-Follower 不動、起點重疊 
1. mission_planner: origin_alt 固定為 0，避免 GPS 橢球高度疊加到相對高度指令
2. mission_planner: 移除圓弧插值，直接用路徑點作為航點，消除微航點導致飛控無法執行
3. mission_planner: lookup 改為外推（extrapolate），解決偶數 rank 起終點重疊
4. communication: UDP/Serial 的 GLOBAL_POSITION_INT 補上 relative_alt 欄位

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
 4 weeks ago
ken910606 003f8988c5 Update GUI 2.4.1 1 month ago
ken910606 d2aef78a4b Update GUI 2.4.0: GPS Status 1 month ago
ken910606 0b41ea0a1e Update GUI 2.3.1 1 month ago
Chiyu Chen 5c14c45823 # RTK function update 
---
1. mavlinkROS2Node 新增 RtcmRelay Node 監聽 RTCM topic 並轉發到 mavlinkObject bus (GPS_RTCM_DATA)
2. 新增 fc_network_module ros2 package 作為協同附屬模組的放置空間
3. Create a new fc_network_module with NtripClientNode for connecting to NTRIP casters and publishing RTCM data to ROS2 topics.
4. (modify) mainOrchestrator adjust the publishing rates for GNSS topics
 1 month ago
Chiyu Chen c8f070bfb9 1. (modify) 更新 ros2 對於 GNSS topic 的發佈, 使其包涵 epv eph 衛星數與 fix_type 
2. (adding) 新增相應的 msg 檔案與修改 CMakeLists, package
3. (adding) test_vehicleStatusPublisher 相對應修正
 1 month ago
ken910606 d2a5f6fad7 Update GUI 2.3.0: JSON in Serial 2 months ago
wenchun 730c3e2420 feat(GUI): 新增模擬驗證滑動開關（ToggleSwitch） 
在清除軌跡按鈕左邊加入滑動開關，可控制執行任務時是否開啟 matplotlib 驗證視窗。
預設開啟，OFF 時跳過驗證。

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
 2 months ago
ken910606 1426a618f4 Update GUI 2.2.0: Settings tab 2 months ago
ken910606 edd15df3fc Update GUI 2.1.0: logs history tab, drone panel attitude, linear twist overview 2 months ago
Chiyu Chen 7f8babfa5e (update) 
1. mavlinkROS2Nodes.py 更新姿態發佈的 topic
2. 新增 interface AttitudeRaw 與對應的 package.xml & CMakeList
 2 months ago
lenting89 75d9d260e1 add esp32 and udptest8-2 to unitdev04 2 months ago
lenting89 b720bb6ffd Merge branch 'lunu' 2 months ago
Chiyu Chen 38d8d23514 Merge branch 'chiyu' 2 months ago
Chiyu Chen cc00427848 # (update) 
1. serialManager.py - AT command 支援與架構重整
2. mainOrchestrator.py - serial 介面功能開啟
 2 months ago
lenting89 6ef06e7cb7 Merge branch 'lunu' of http://140.120.108.238:49308/chiyu1468/AirTrapMine into lunu 2 months ago
lenting89 1cb818b3a3 Merge branch 'master' into lunu 2 months ago
lenting89 415cf1585f update before merging 2 months ago
Chiyu Chen 7b7e02a9e7 (update) serialManager: 增加 AT 指令處理功能與串口寫入支持，更新版本號至 0.80 2 months ago
ken910606 be52c4bd22 Update GUI 2.0.8 group selected list 2 months ago
ken910606 b9d6e0e2e0 Update GUI 2.0.7 group selected list 2 months ago
Chiyu Chen 06463d71bc (modify) serialManager 架構調整 詳見改版記錄 2 months ago
Chiyu Chen 7ce094d211 (temp) 整理檔案與註解 2 months ago
wenchun 0edc477df8 feat(mission): virtual-leader path following + 固定領隊 + barrier 
- mission_planner: Leader-Follower 改用 arc-length 參數化（virtual
  leader），_build_center_path 以同心圓弧連接直線段，銳角退化成 hover
  單點並在該點放 rendezvous barrier，避免暴衝與編隊交叉
- mission_planner: rank 改以輸入順序為準，不再對投影排序，避免浮點噪音
  導致 run-to-run leader 漂移
- mission_group / gui: 新增 leader_drone_id 與「領隊」下拉選單，handle_
  route_confirmed 把指定領隊重排到 rank 0，整個縱隊順序固定如軍隊行進
- mission_executor: rendezvous barrier 釋放邏輯、fallback LOITER、send
  retry；加 barrier_timeout 保護
- command_sender / communication / navigation: 配合 setpoint 送達與
  Ros2 bridge 更新

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
 2 months ago
wenchun 5c0d21fc1d Merge remote-tracking branch 'origin/master' into wenchun 2 months ago
wenchun 3483864a2e chore: 移除無關的模擬資料檔與 README 過時段落 
刪除歷史 merge 夾帶進來的 obstacles_data.mat 與 uav_simulation_data.mat
（屬於另一個研究的資料，與本專案無關），並移除 README 末尾 0328 的
test_transform / close_loop 敘述。

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
 2 months ago
wenchun ae80820419 chore: gitignore notes/ 資料夾以收納本地設計筆記 
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
 2 months ago
ken910606 fc00ecb762 Update GUI 2.0.6 components and longCommand 2 months ago
ken910606 fc2c642d6c Force sync local master to remote ken 2 months ago
ken910606 2c38376f9c Update master with local 2.0.5 2 months ago
wenchun 32e1ce8fb2 Merge remote-tracking branch 'origin/master' into wenchun 2 months ago
wenchun 33d6d59139 chore: ignore CLAUDE.md, 本地筆記與 eeprom dump 2 months ago
ken910606 7ae4c56f86 Merge branch 'master' of http://140.120.108.238:49308/chiyu1468/AirTrapMine 2 months ago
ken910606 20e8397f5a Update master with local 2.0.4 2 months ago